CN112157660A - Mobile robot with tracking function and target tracking method - Google Patents
Mobile robot with tracking function and target tracking method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The invention discloses a mobile robot with a tracking function and a target tracking method, and relates to a sensor positioning device. Compared with the prior art, the movable support component and the infrared vision mechanism enable the mobile robot not to be limited by the far and near positions of a tracking target, and accurate real-time positioning and tracking of the target object are achieved, so that the technical problem that an intelligent housekeeper robot cannot effectively track an owner by using a single sensor in the motion process in the related art is solved, and the intelligent degree of the robot is improved.
Description
Technical Field
The invention relates to a sensor positioning device, in particular to a mobile robot with a tracking function and a target tracking method.
Background
With the aging of the whole society and the prominent phenomenon of birth rate reduction, the human beings can have long life and form a society with more old people and less young people; from the perspective of social welfare, many old people need to be provided with home assistants, but due to the influence of factors such as labor conditions, natural people are difficult to find in the labor market with short supply and demand as home assistants, so that a household robot is needed to track and monitor the old people in real time. Meanwhile, young people pursue high quality of life, the young people prefer new information technology, and the realization of home automation is urgently needed, so that the service by means of a household robot is needed.
However, in the prior art, the robot cannot accurately track the master in real time, and the accuracy of the action of the robot following the target closely is not high, so that the existing mobile intelligent housekeeper robot has low intelligent degree and is inconvenient to use practically.
Disclosure of Invention
The invention discloses a mobile robot with a tracking function and a target tracking method, so that the problem that the robot cannot accurately follow the behavior of an owner in a close fit manner in real time is solved, and the robot can effectively track the owner without being limited by the distance of the owner. The specific technical scheme is as follows:
in a first aspect, a mobile robot with a tracking function is disclosed, the mobile robot comprises a robot base and a driving wheel, the mobile robot comprises a movable support component and an infrared vision mechanism, the movable support component is mounted above the robot base, and the infrared vision mechanism is mounted together with the movable support component to support the infrared vision mechanism to move up and down and rotate 360 degrees above the robot base, so that the infrared vision mechanism collects light reflected by a tracking target of the mobile robot. Compared with the prior art, the movable support assembly and the infrared vision mechanism disclosed by the technical scheme enable the mobile robot not to be limited by the far and near positions of the tracked target, and achieve accurate real-time positioning and tracking of the target object, so that the technical problem that the intelligent housekeeper robot cannot effectively track the owner by using a single sensor in the motion process in the related art is solved, and the intelligent degree of the robot is improved.
Further, the infrared vision mechanism comprises a bearing structure, an infrared camera and an infrared emission tube; the bearing structure is arranged with the movable bracket component; the infrared emission tube is fixedly arranged in the slot position at the oblique lower part of the bearing structure, and the included angle between the infrared light emergent direction of the infrared emission tube and the horizontal line is a second preset angle; the infrared camera is installed above the infrared transmitting tube and keeps a preset height difference in the vertical direction, the infrared camera is also fixedly arranged in a corresponding groove position of the bearing structure, an included angle between an optical axis of the infrared camera and a horizontal line is a first preset angle, and the infrared camera collects light rays at a first visual angle of a vertical detection plane and comprises infrared modulation light emitted from the infrared transmitting tube; the robot base is used for acquiring a light spot image of a tracking target after infrared modulation light reflected by the tracking target is acquired through an infrared camera, and then tracking the tracking target in real time based on the light spot image, wherein the light spot image of the tracking target is formed by reflecting the infrared modulation light emitted by the infrared emission tube.
Compared with the prior art, this technical scheme is through bearing the trench that the fixed infrared camera of mechanism and infrared transmitting tube are the contained angle setting at corresponding height for infrared camera gathers the reflection of the high position department of tracking human body in vertical direction and comes from the infrared modulation light of infrared transmitting tube outgoing, and the facula image through only gathering the reasonable high department of tracking human body carries out real-time tracking location to the tracking human body, shortens the characteristic search time, improves the mobile robot and tracks human success rate.
Further, the movable bracket assembly comprises a slidable connecting rod, a vertical bracket and a rotary table base; the bottom of the vertical support is provided with a rotating table base, and the rotating table base is installed on the robot base and used for supporting the vertical support to rotate 360 degrees above the robot base through the rotating table base; the bearing structure is fixedly connected with the slidable connecting rod, the slidable connecting rod comprises a locking structure, and the slidable connecting rod is sleeved on the vertical support through the locking structure and is used for supporting the slidable connecting rod to move up and down along the vertical support; wherein, revolving stage base and locking structure all are provided with electrical interface, all with there is electric connection in robot base's inside processing unit's communication interface, be used for the drive bearing structure is in robot base's top reciprocates and 360 degrees rotations, realizes infrared vision mechanism gathers the light that reflects with the different tracking target of mobile robot distance.
Compared with the prior art, the movable support assembly disclosed by the technical scheme is used for adjusting and controlling the infrared vision mechanism to perform distance measurement and positioning on target tracking human bodies at different distances at positions with different heights and angles, so that the problems of short-distance detection blind areas and weak long-distance detection signals existing in single infrared detection in the prior art are solved, the precision of the robot for positioning and tracking the target object is improved, particularly the moving human body is tracked, and the movable support assembly is suitable for an intelligent home service robot to effectively follow the target human body in real time.
It should be noted that a first stepping motor is arranged inside the locking structure, and is used for locking the slidable connecting rod on the vertical support by decelerating to zero when the infrared vision mechanism collects infrared modulation light reflected by the tracking target in the up-and-down moving process; the second stepping motor is arranged in the rotating table base and used for locking the slidable connecting rod and the infrared camera by decelerating to zero when the infrared vision mechanism collects infrared modulation light reflected by the tracking target in the rotating process; and the second stepping motor and the first stepping motor are electrically connected with the processing unit in the robot base. The locking structure and the rotating table base disclosed by the technical scheme are composed of a stepping motor, and the distance measurement distance of the infrared emission tube is long, the measurement angle is large, and the infrared camera can identify a near target to track a human body, so that the target object in a three-dimensional range with a controllable distance angle is tracked and positioned.
Alternatively, the second preset angle is set to 20 degrees, the first preset angle is set to 10 degrees, the first viewing angle is set to 50 degrees, and the preset height difference is set to 30 centimeters. The infrared camera is improved to capture high-quality light spot images, and therefore the success rate of the mobile robot in tracking the target is improved.
In a second aspect, a target tracking method for a robot is disclosed, which is used for the mobile robot with tracking function in the technical solution of the first aspect, and the target tracking method includes: controlling the infrared emission tube to emit infrared modulated light, and simultaneously adjusting the pose of the infrared vision mechanism above the robot base through the movable support assembly, so that the infrared camera acquires a light spot image of the tracking target according to reflected light of the infrared modulated light; then, determining the position information of the tracking target based on the light spot image, and controlling the robot base to move until the distance between the robot base and the tracking target maintains a standard tracking distance; and the light spot image of the tracking target is formed by reflecting the infrared modulation light emitted by the infrared emission tube. Compared with the man-machine interaction mode in the prior art, the infrared vision mechanism is combined the movable support component is used for accurately positioning and tracking the target object in real time, the technical problem that an intelligent housekeeper robot cannot effectively track an owner in the motion process by using a single sensor in the related technology is solved, the accuracy of the action of the mobile robot following the owner next to the skin is improved, and the use experience of a user is improved through the personification of the mobile robot.
Further, the method for adjusting the pose of the infrared camera above the robot base through the movable support assembly so that the infrared camera obtains the light spot image of the tracking target according to the reflected light of the infrared modulation light comprises the following steps: adjusting the up-down displacement of the infrared camera on the vertical support by controlling the rotation of a first stepping motor in the locking structure until the infrared camera collects infrared modulation light reflected by the tracking target in the up-down moving process and acquires a corresponding light spot image, and locking the infrared camera at the current test height position of the vertical support by controlling the first stepping motor to decelerate to zero; and/or, the rotation of a second stepping motor arranged inside the rotating table base is controlled to adjust the angle of the infrared camera rotating around the vertical support until the infrared camera collects infrared modulation light reflected back by the tracking target in the rotating process and acquires a corresponding light spot image, and the second stepping motor is controlled to decelerate to zero to lock the infrared camera on a current collection included angle relative to the advancing direction of the mobile robot. Compared with the prior art, the technical scheme has the advantages that the infrared vision mechanism carries out distance measurement and positioning on the target tracking human body at different distances at the positions of different heights and angles through the movable support assembly, the problems of short-distance detection blind areas and weak long-distance detection signals existing in single infrared detection in the prior art are solved, particularly the tracking moving human body is adopted, and the intelligent home service robot can effectively follow the target human body in real time.
It should be noted that when the infrared camera is locked at the standard test height of the vertical support and/or the infrared camera is locked at a standard collection included angle relative to the advancing direction of the mobile robot, the infrared camera collects infrared modulated light reflected by the tracking target which is away from the robot base by the standard tracking distance and acquires a corresponding light spot image; and the standard acquisition included angle, the standard tracking distance and the standard testing height are matched in a pre-configuration mode. The accuracy of the robot for positioning and tracking the target object is improved.
Further, when the current test height of the infrared camera on the vertical support is adjusted to be smaller than a standard test height through the locking structure, and/or the current acquisition included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be larger than a standard acquisition included angle through the rotating table base, determining that the distance between the tracking target and the robot base is larger than the standard tracking distance; then controlling the robot base to move linearly towards the direction close to the current position of the tracking target until the distance between the mobile robot and the tracking target is shortened to the standard tracking distance; then, the current test height of the infrared camera on the vertical support is adjusted to be equal to a standard test height through the locking structure, and/or the current collection included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be equal to a standard collection included angle through the rotating table base; when the current test height of the infrared camera on the vertical support is adjusted to be larger than the standard test height through the locking structure, and/or the current acquisition included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be smaller than the standard acquisition included angle through the rotating table base, determining that the distance between the tracking target and the robot base is smaller than the standard tracking distance; then the robot base is controlled to move linearly towards the direction far away from the current position of the tracking target until the distance between the mobile robot and the tracking target is increased to the standard tracking distance; then the current test height of the infrared camera on the vertical support is adjusted to be equal to the standard test height through the locking structure, and/or the current collection included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be equal to the standard collection included angle through the rotating table base.
Compared with the prior art, the technical scheme controls the tracking behavior of the mobile robot by comparing the pose adjustment result of the movable support assembly to the infrared vision mechanism with the pre-configured standard quantity, realizes the effective tracking and positioning of the mobile robot on the target object, and improves the success rate of tracking the tracked target human body by the mobile robot.
Optionally, the distance between the robot base and the tracking target and the position of the tracking target are linear distances obtained by the processing unit performing triangular geometric calculation according to height information of the infrared light spot feature points included in the light spot image of the tracking target. According to the technical scheme, the position, the length and other information of the bright line irradiated by the infrared modulation light in the image are analyzed, so that the robot can judge the distance between the obstacle and the corresponding machine body, the calculation amount of memory resources is reduced, and the feature searching time is shortened.
Drawings
Fig. 1 is a schematic structural diagram of a mobile robot with a tracking function disclosed in the present invention.
Fig. 2 is a schematic view of a tracking and positioning scenario of a mobile robot with a tracking function according to an embodiment.
Fig. 3 is a schematic view of a tracking and positioning scenario of a mobile robot with a tracking function according to another embodiment.
Reference numerals:
101: an infrared camera; 102: an infrared emission tube; 103: a load bearing structure; 104: a slidable connecting rod; 105: a vertical support; 106: a rotating table base; 107: a robot base; 108: and a driving wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.
In this application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "connected," "disposed," "secured," and "packaged" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The invention discloses a mobile robot with a tracking function and a target tracking method, which are used for solving the problem that the robot cannot accurately follow the behavior of an owner in a close fit manner in real time, so that the robot can effectively track the owner without being limited by the distance of the owner. As shown in fig. 1, specifically, a mobile robot with a tracking function is disclosed, the mobile robot includes a robot base 107 and a driving wheel 108, the mobile robot includes a movable bracket assembly and an infrared vision mechanism, the infrared vision mechanism is a detection, identification and positioning device assembly of a tracked target and may be composed of a plurality of sensors, the movable bracket assembly is installed above the robot base 107, the infrared vision mechanism is installed together with the movable bracket assembly to support the infrared vision mechanism to move up and down and rotate 360 degrees above the robot base 107, so that the infrared vision mechanism collects light reflected by the tracked target of the mobile robot, then the robot base 107 keeps a constant distance from the tracked target according to the collected image information of the light reflected by the tracked target of the mobile robot, no matter whether the tracked target moves or not, the robot base 107 moves according to the result collected by the infrared vision mechanism so as to keep a constant distance from the tracking target, thereby realizing the tracking function. Compared with the prior art, the movable support assembly and the infrared vision mechanism disclosed by the embodiment of the invention enable the mobile robot to be not limited by the distance of a tracked target, accurately position and track the target object in real time, particularly the specific height position of the moving human body trunk with specific height or the specific height position of the moving human body trunk, solve the technical problem that the intelligent housekeeper robot cannot effectively track the owner by using a single sensor in the movement process in the related technology, and improve the intelligent degree and the personification degree of the robot.
Referring to fig. 1, the infrared vision mechanism includes a bearing structure 103, an infrared camera 101 and an infrared emission tube 102; the carrying structure 103 is mounted with the movable bracket assembly; the infrared emission tube 102 is fixedly arranged in a slot position obliquely below the bearing structure 103, and an included angle between the infrared light emitting direction of the infrared emission tube 102 and a horizontal line is a second preset angle b; the infrared camera 101 is installed above the infrared transmitting tube 102 and keeps a preset height difference in the vertical direction, the infrared camera 101 is also fixedly arranged in a corresponding groove position of the bearing structure 103, an included angle between an optical axis of the infrared camera 101 and a horizontal line is a first preset angle a, and the installation groove position of the infrared camera 101 and the installation groove position of the infrared transmitting tube 102 have the preset height difference in the vertical direction; therefore, the infrared camera 101 keeps collecting light with the first visual angle of the vertical detection plane, so that information such as the position and the length of a bright line in an image is collected, when the area of the filter unit passing through a certain frequency band of the infrared camera 101 is larger and the distribution is more uniform, the more light rays are collected by the infrared camera 101 in the frequency band, the higher the quality of an acquired light spot image is, and the higher the accuracy of tracking a tracking target by the infrared camera 101 is.
As can be known from fig. 2, the light reflected back by the tracking target of the mobile robot includes the infrared modulated light emitted from the infrared emission tube 102, the infrared emission tube 102 emits the infrared modulated light toward the head of the human body in fig. 2 and is reflected back by the head of the human body in fig. 2, and the reflected light of the infrared modulated light just falls within the first visual angle range of the infrared camera 101, and the infrared camera 101 collects a corresponding light spot image; the robot base 107 acquires the light spot image of the tracking target after acquiring the infrared modulation light reflected by the tracking target through the infrared camera 101, and then tracks the tracking target in real time based on the light spot image, wherein the light spot image of the tracking target is formed by reflecting the infrared modulation light emitted by the infrared emission tube 102, the infrared modulation light emitted by the infrared emission tube 102 and the light spot image acquired by the infrared camera 101 are performed simultaneously, so that the real-time performance of the mobile robot for tracking the target is improved. Compared with the prior art, this embodiment is through bearing the trench that mechanism 103 fixed infrared camera 101 and infrared transmitting tube 102 are the contained angle setting at corresponding height, and the angle is tracked in the detection of fixed infrared camera 101 and infrared transmitting tube 102 for infrared camera 101 gathers the reflection of the high position department of tracking the human body in vertical direction and comes from infrared modulation light that infrared transmitting tube 102 outgoing can be the three quarters height of human eye height, truck, and carries out real-time tracking location through the facula image pair of the reasonable high department of only gathering tracking the human body, shortens characteristic search time, improves the efficiency and the success rate that mobile robot tracked the target.
Referring to fig. 1, the movable bracket assembly includes a slidable connecting rod 104, a vertical bracket 105 and a rotating table base 106; seen from the vertical direction, a rotating table base 106 is arranged at the bottom of the vertical support 105, the rotating table base 106 is installed on the robot base 107 and is used for supporting the vertical support 105 to rotate 360 degrees vertically above the robot base 107 through the rotating table base 106, a second stepping motor is arranged inside the rotating table base 106 and is used for locking the slidable connecting rod 104 and the infrared camera 101 at a current collection included angle (not shown in the figure) relative to the advancing direction of the mobile robot by decelerating to zero when the infrared vision mechanism collects infrared modulated light reflected by the tracked target in the rotating process, wherein the rotating table base 106 drives the second stepping motor to rotate through a coupler, and the second stepping motor drives the vertical support 105 to rotate in the horizontal direction; as shown in fig. 2, the bearing structure 103 is fixedly connected with the slidable connecting rod 104, the slidable connecting rod 104 includes a locking structure, the slidable connecting rod 104 is sleeved on the vertical support 105 through the locking structure and is used for supporting the slidable connecting rod 104 to move up and down or slide up and down along the vertical support 105, a first step motor is arranged inside the locking structure and is used for locking the slidable connecting rod 104 at a height position of a current test height h of the vertical support 105 by decelerating to zero when the infrared vision mechanism collects infrared modulated light reflected by the tracked target in the up-and-down moving process, that is, in the process that the infrared camera 101 in fig. 2 moves up and down along the vertical direction along with the bearing structure 103, if the infrared modulated light reflected by the tracked target is collected, wherein the locking structure drives the first step motor to rotate through a coupler, the first stepping motor drives the slidable connecting rod 104 to slide in the vertical direction. The locking structure and the rotating table base disclosed by the embodiment are both composed of a stepping motor, and the distance measurement distance of the infrared emission tube is long, the measurement angle is large, the infrared camera can identify a near target tracking human body, and the target object tracking and positioning within the three-dimensional range with the controllable distance and angle can be realized by adjusting the rotating speed and the direction of the stepping motor. In this embodiment, the rotating table base and the locking structure are both provided with electrical interfaces, and are both electrically connected to a communication interface of a processing unit inside the robot base 107, so as to drive the bearing structure 103 to move up and down and rotate 360 degrees above the robot base 107, and realize that the infrared vision mechanism collects light reflected by a tracking target with a different distance from the mobile robot; the second stepping motor and the first stepping motor are electrically connected with the processing unit inside the robot base.
As an embodiment, when the infrared camera 101 shown in fig. 2 is locked at the height h position of the vertical support 105, the infrared emission tube 102 is controlled to emit infrared modulated light, the emitting direction of the infrared modulated light is from an arrow-headed dotted line of the infrared emission tube 102, the infrared modulated light is emitted to the head of the human body, the tracked human body is regarded as being at the position O1, the robot base 107 is regarded as being at the position O, and the infrared modulated light reflected by the head of the tracked human body at the position O1 falls within the range of the viewing angle of the infrared camera 101, so that the infrared camera 101 shown in fig. 2 can collect the infrared modulated light reflected by the tracked human body.
As another example, as can be seen from fig. 2 and 3, the tracked human body in fig. 3 is displaced in the direction indicated by arrow a1 relative to the tracked human body in fig. 2, i.e. the tracked human body moves from position O1 to position O2, but the robot base 107 is still at position O; in this embodiment, the infrared camera 101 shown in fig. 3 is locked at the height h1 of the vertical support 105, and the infrared emission tube 102 emits the infrared modulated light to just enter the top of the head of the tracked human body at the position O2; as can be understood by those skilled in the art by referring to FIGS. 2 and 3, since h1 is smaller than h, when the infrared camera 101 is locked at the height h position of the vertical support 105, the infrared emitting tube 102 emits infrared modulated light which is not incident on the human tracking head at the position O2 but passes through the human tracking head at the position O2 without contacting the human tracking head at the position O2, and the infrared emitting tube 102 does not play a human tracking role in detecting the position O2. Therefore, the robot base 107 at the position O in the embodiment of fig. 3 releases and locks the infrared camera 101 from the vertical height h position of fig. 2 at the height h1 position of the vertical support 105, so that the infrared camera 101 of fig. 3 is lowered by a height difference of (h-h 1) in the vertical direction relative to the infrared camera 101 of fig. 2, that is, lowered in the direction indicated by the arrow B1 (h-h 1), and the infrared modulated light reflected by the head of the tracked human body at the position O2 falls within the viewing angle range of the infrared camera 101 of fig. 3, so that the infrared camera 101 of fig. 3 can collect the infrared modulated light reflected by the tracked human body.
Compared with the prior art, the movable support assembly disclosed by the embodiment is used for adjusting and controlling the infrared vision mechanism to perform distance measurement and positioning on target tracking human bodies at different distances at positions with different heights and angles, so that the problems of short-distance detection blind areas and weak long-distance detection signals existing in single infrared detection in the prior art are solved, the precision of positioning and tracking target objects of the robot is improved, particularly the head of the human body in a tracking graph 2 is improved, and the movable support assembly is suitable for the intelligent home service robot to effectively follow the target human body in real time.
It should be noted that, in the foregoing embodiments, only the necessary structures of the mobile robot for implementing the positioning and tracking function of the target human body are listed, but the actual structures of the mobile robot are not limited thereto, for example, the base of the mobile robot may further be provided with the necessary structures of driving components (such as driving motors, steering motors), moving components (such as wheel sets), shock-absorbing components, gravity center adjusting components, etc. for implementing other functions of the mobile robot, the slidable connecting rod 104, the vertical support 105 and the rotating platform base 106 further include corresponding wheel axle components, the upper and lower traction devices of the slidable connecting rod 104 are paired with the first stepping motor, the rotating traction components of the vertical support 105 are paired with the second stepping motor, wherein the slidable connecting rod 104 has a wheel tooth component that is engaged with the locking structure to form the standard test height h locking function of the vertical support 105, the rotary table base 106 also has the necessary functional structure for locking the vertical support 105, and those skilled in the art can select the structure according to actual needs and the prior art, and the detailed description of the present application is omitted.
Preferably, the second preset angle is set to 20 degrees, the first preset angle is set to 10 degrees, the first viewing angle is set to 50 degrees, and the preset height difference is set to 30 centimeters. The method improves the success rate of the mobile robot in tracking the target by capturing the high-quality light spot image by the infrared camera 101.
On the basis of the mobile robot with the tracking function disclosed in the foregoing embodiment, another embodiment of the present invention discloses a target tracking method for a robot, which basically has the following concept: controlling the infrared emission tube to emit infrared modulated light, and simultaneously adjusting the pose of the infrared vision mechanism above the robot base through the movable support assembly, so that the infrared camera acquires a light spot image of the tracking target according to reflected light of the infrared modulated light; then, determining the position information of the tracking target based on the light spot image, and controlling the robot base to move until the distance between the robot base and the tracking target maintains a standard tracking distance; and the light spot image of the tracking target is formed by reflecting the infrared modulation light emitted by the infrared emission tube. Compared with the man-machine interaction mode in the prior art, this embodiment will infrared vision mechanism combination mobilizable bracket component goes accurate real-time location tracking target object, has solved among the correlation technique intelligent housekeeper robot and has used single sensor in the motion process and can't effectively trail owner's technical problem, improves the accuracy of mobile robot's the action of following owner next to the shin, through the personification that improves mobile robot, improves user's use experience.
In the target tracking method, the pose of the infrared camera above the robot base is adjusted by the movable support assembly, so that the infrared camera obtains a light spot image of the tracked target according to the reflected light of the infrared modulated light, as shown in fig. 2, the specific implementation manner is as follows: adjusting the up-down displacement of the infrared camera 101 on the vertical support 105 by controlling the rotation of a first stepping motor of a locking structure arranged in the slidable connecting rod 104 until the infrared camera 101 collects infrared modulation light reflected by the tracking target in the up-down moving process and acquires a corresponding light spot image, wherein the light reflected by the human head corresponding to the position O1 in fig. 2 falls into the visual angle range of the infrared camera 101; and then the infrared camera 101 is locked at the current test height h position of the vertical bracket 105 by controlling the first stepping motor to decelerate to zero. And/or adjusting the angle of rotation of the infrared camera 101 around the vertical support 105 by controlling the rotation of a second stepping motor arranged inside the rotating table base 106 until the infrared camera 101 collects infrared modulation light reflected by the tracking target in the rotating process and acquires a corresponding light spot image, and locking the infrared camera 101 at a current collection included angle relative to the advancing direction of the mobile robot by controlling the second stepping motor to be decelerated to zero. This embodiment is through mobilizable bracket component regulation and control infrared vision mechanism is in the position appearance department of co-altitude and angle not to the human body of target tracking of equidistance carry out the range finding location, can regard as to let the robot independently track a human body that removes in real time to form a three-dimensional measurement space range, be favorable to solving the problem that short-range detection blind area and the long-range detection signal that prior art's single infrared detection exists are weak, improve the precision that the robot location tracked the target thing.
It should be noted that when the infrared camera is locked at the standard test height of the vertical support and/or the infrared camera is locked at a standard collection included angle relative to the advancing direction of the mobile robot, the infrared camera collects infrared modulated light reflected by the tracking target which is away from the robot base by the standard tracking distance and acquires a corresponding light spot image; and the standard acquisition included angle, the standard tracking distance and the standard testing height are matched in a pre-configuration mode. The accuracy of the robot for positioning and tracking the target object is improved.
As an embodiment, the target tracking method specifically includes: when the current test height of the infrared camera 101 on the vertical support 105 is adjusted to be smaller than the standard test height through the locking structure of the slidable connecting rod 104, and/or the current collection included angle of the infrared camera 101 relative to the advancing direction of the mobile robot is adjusted to be larger than the standard collection included angle through the rotating table base 106, determining that the distance between the tracking target and the robot base is larger than the standard tracking distance; therefore, if the current test height h of the infrared camera 101 on the vertical support 105 in the embodiment shown in fig. 2 is taken as the standard test height, the distance between the position O1 where the human body is tracked in the embodiment shown in fig. 2 and the position O of the robot base 107 is the standard tracking distance, the infrared camera 101 in the embodiment shown in fig. 3 is lowered relative to the infrared camera 101 in the embodiment shown in fig. 2, and the distance between the position O2 where the human body is tracked in the embodiment shown in fig. 3 and the position O of the robot base 107 is greater than the standard tracking distance. Then, controlling the robot base 107 of fig. 3 to move linearly in a direction approaching the current position of the tracking target until the distance between the mobile robot and the tracking target is shortened to the standard tracking distance, that is, controlling the robot base 107 of fig. 3 to move linearly in the direction indicated by the arrow a1 until the distance between the real-time position of the mobile robot and the position O2 is shortened to the standard tracking distance; then the current test height of the infrared camera 101 on the vertical support 105 is adjusted to be equal to a standard test height h through the locking structure, and/or the current collection included angle of the infrared camera 101 relative to the advancing direction of the mobile robot is adjusted to be equal to a standard collection included angle through the rotating table base. In the embodiment, the tracking behavior of the mobile robot is controlled by comparing the pose adjustment result of the movable support assembly on the infrared vision mechanism with the pre-configured standard quantity, and the method is particularly suitable for tracking the behavior of a moving human body and is suitable for the intelligent home service robot to effectively move along with a target human body in real time.
According to the tracking control logic of the previous embodiment, when the current test height of the infrared camera on the vertical support is adjusted to be larger than the standard test height through the locking structure and/or the current acquisition included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be smaller than the standard acquisition included angle through the rotating table base, it is determined that the distance between the tracking target and the robot base is smaller than the standard tracking distance; then the robot base is controlled to move linearly towards the direction far away from the current position of the tracking target until the distance between the mobile robot and the tracking target is increased to the standard tracking distance; then the current test height of the infrared camera on the vertical support is adjusted to be equal to the standard test height through the locking structure, and/or the current collection included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be equal to the standard collection included angle through the rotating table base. In this embodiment, the configuration conditions of the tracking behavior parameters of the mobile robot are suitable for detecting a tracking target by using an infrared transmitting tube, so that interference or damage to normal vision of a human body tracked by the robot is avoided.
In summary, the foregoing embodiments achieve: and determining the position information of the tracking target based on the light spot image acquired by the infrared camera at the corresponding test height position, and then controlling the robot base to move until the distance between the robot base and the tracking target maintains a standard tracking distance. The mobile robot can effectively track and position the target object, and the success rate of tracking the tracked target human body by the mobile robot is improved.
Preferably, the distance between the robot base 107 and the tracking target (human body) is a straight-line distance obtained by the processing unit performing triangular geometric calculation according to height information of infrared light spot feature points included in the light spot image of the tracking target; in the embodiment, a geometric triangular model is established by analyzing information such as the position and the length of a bright line irradiated by infrared modulation light in an image, and meanwhile, the position coordinate value of the tracking target can be converted and calculated by combining the rigid relation between the infrared camera 101 and the infrared transmitting tube 102 which are arranged on the bearing structure 103, so that the robot can judge the distance between an obstacle and the opposite machine body.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a mobile robot with tracking function, this mobile robot includes robot base and drive wheel, its characterized in that, this mobile robot includes mobilizable bracket component and infrared vision mechanism, and mobilizable bracket component is installed in the top of robot base, and infrared vision mechanism is in the same place with mobilizable bracket component installation to support infrared vision mechanism to reciprocate and 360 degrees rotations in the top of robot base, make infrared vision mechanism gather the light that mobile robot's tracking target reflects back.
2. The mobile robot with tracking function of claim 1, wherein the infrared vision mechanism comprises a bearing structure, an infrared camera and an infrared emission tube;
the bearing structure is arranged with the movable bracket component;
the infrared emission tube is fixedly arranged in the slot position at the oblique lower part of the bearing structure, and the included angle between the infrared light emergent direction of the infrared emission tube and the horizontal line is a second preset angle;
the infrared camera is installed above the infrared transmitting tube and keeps a preset height difference in the vertical direction, the infrared camera is also fixedly arranged in a corresponding groove position of the bearing structure, an included angle between an optical axis of the infrared camera and a horizontal line is a first preset angle, and the infrared camera collects light rays at a first visual angle of a vertical detection plane and comprises infrared modulation light emitted from the infrared transmitting tube;
the robot base is used for acquiring a light spot image of a tracking target after infrared modulation light reflected by the tracking target is acquired through an infrared camera, and then tracking the tracking target in real time based on the light spot image, wherein the light spot image of the tracking target is formed by reflecting the infrared modulation light emitted by the infrared emission tube.
3. The mobile robot with tracking function according to claim 2, wherein the movable stand assembly comprises a slidable link, a vertical stand and a rotating table base;
the bottom of the vertical support is provided with a rotating table base, and the rotating table base is installed on the robot base and used for supporting the vertical support to rotate 360 degrees above the robot base through the rotating table base;
the bearing structure is fixedly connected with the slidable connecting rod, the slidable connecting rod comprises a locking structure, and the slidable connecting rod is sleeved on the vertical support through the locking structure and is used for supporting the slidable connecting rod to move up and down along the vertical support;
wherein, revolving stage base and locking structure all are provided with electrical interface, all with there is electric connection in robot base's inside processing unit's communication interface, be used for the drive bearing structure is in robot base's top reciprocates and 360 degrees rotations, realizes infrared vision mechanism gathers the light that reflects with the different tracking target of mobile robot distance.
4. The mobile robot with tracking function of claim 3, wherein the locking structure is internally provided with a first stepping motor for locking the slidable connecting rod on the vertical support by decelerating to zero when the infrared vision mechanism collects the infrared modulated light reflected by the tracking target during the up-and-down movement;
the second stepping motor is arranged in the rotating table base and used for locking the slidable connecting rod and the infrared camera by decelerating to zero when the infrared vision mechanism collects infrared modulation light reflected by the tracking target in the rotating process;
and the second stepping motor and the first stepping motor are electrically connected with the processing unit in the robot base.
5. The mobile robot having a tracking function according to claim 4, wherein the second preset angle is set to 20 degrees, the first preset angle is set to 10 degrees, the first view angle is set to 50 degrees, and the preset height difference is set to 30 cm.
6. A target tracking method of a robot, which is used for the mobile robot having a tracking function according to claim 4, the target tracking method comprising:
controlling the infrared emission tube to emit infrared modulated light, and simultaneously adjusting the pose of the infrared vision mechanism above the robot base through the movable support assembly, so that the infrared camera acquires a light spot image of the tracking target according to reflected light of the infrared modulated light;
then, determining the position information of the tracking target based on the light spot image, and controlling the robot base to move until the distance between the robot base and the tracking target maintains a standard tracking distance;
and the light spot image of the tracking target is formed by reflecting the infrared modulation light emitted by the infrared emission tube.
7. The method for tracking the target of claim 6, wherein the adjusting the position of the infrared camera above the robot base by the movable support assembly so that the infrared camera obtains the spot image of the tracked target according to the reflected light of the infrared modulated light comprises:
adjusting the up-down displacement of the infrared camera on the vertical support by controlling the rotation of a first stepping motor in the locking structure until the infrared camera collects infrared modulation light reflected by the tracking target in the up-down moving process and acquires a corresponding light spot image, and locking the infrared camera at the current test height position of the vertical support by controlling the first stepping motor to decelerate to zero;
and/or, the rotation of a second stepping motor arranged inside the rotating table base is controlled to adjust the angle of the infrared camera rotating around the vertical support until the infrared camera collects infrared modulation light reflected back by the tracking target in the rotating process and acquires a corresponding light spot image, and the second stepping motor is controlled to decelerate to zero to lock the infrared camera on a current collection included angle relative to the advancing direction of the mobile robot.
8. The target tracking method according to claim 7, wherein when the infrared camera is locked at the standard test height of the vertical support and/or the infrared camera is locked at a standard collection angle relative to a forward direction of the mobile robot, the infrared camera collects infrared modulated light reflected back by the tracking target which is at the standard tracking distance from the robot base and acquires a corresponding spot image; and the standard acquisition included angle, the standard tracking distance and the standard testing height are matched in a pre-configuration mode.
9. The target tracking method according to claim 8, characterized by determining that the current distance between the tracking target and the robot base is greater than the standard tracking distance when the current test height of the infrared camera on the vertical support is adjusted to be less than the standard test height through the locking structure and/or the current collection included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be greater than the standard collection included angle through the rotating table base; then controlling the robot base to move linearly towards the direction close to the current position of the tracking target until the distance between the mobile robot and the tracking target is shortened to the standard tracking distance; then, the current test height of the infrared camera on the vertical support is adjusted to be equal to a standard test height through the locking structure, and/or the current collection included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be equal to a standard collection included angle through the rotating table base;
when the current test height of the infrared camera on the vertical support is adjusted to be larger than the standard test height through the locking structure, and/or the current acquisition included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be smaller than the standard acquisition included angle through the rotating table base, determining that the distance between the tracking target and the robot base is smaller than the standard tracking distance; then the robot base is controlled to move linearly towards the direction far away from the current position of the tracking target until the distance between the mobile robot and the tracking target is increased to the standard tracking distance; then the current test height of the infrared camera on the vertical support is adjusted to be equal to the standard test height through the locking structure, and/or the current collection included angle of the infrared camera relative to the advancing direction of the mobile robot is adjusted to be equal to the standard collection included angle through the rotating table base.
10. The target tracking method according to claim 9, wherein the distance between the robot base and the tracking target is a straight-line distance obtained by the processing unit performing a trigonometric calculation based on height information of infrared spot feature points included in the spot image of the tracking target.
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